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Artificial Intelligence and Decision Making, 2023, Issue 2, Pages 45–63
DOI: https://doi.org/10.14357/20718594230204 (Mi iipr25) 		 
Intelligent systems and robots

STRL-Robotics: intelligent control for robotic platform in human-oriented environment

K. V. Mironovab, D. A. Yudinab, M. Alhaddada, D. A. Makarovac, D. S. Pushkareva, S. A. Linoka, I. V. Belkina, A. S. Krishtopika, V. A. Golovina, K. Yakovlevc, A. I. Panovac

a Moscow Institute of Physics and Technology (National Research University), Dolgoprudny, Russia
b AIRI Artificial Intelligence Institute, Moscow, Russia
c Federal Research Center "Computer Science and Control" of Russian Academy of Sciences, Moscow, Russia
Full-text PDF (1763 kB)
DOI: https://doi.org/10.14357/20718594230204
Abstract: The article considers the problem of synthesizing the behavior of mobile robotic manipulator when solving tasks in a human-oriented environment. The architecture of the control system is presented, which in an original way integrates the modules responsible localization and mapping, planning the motion of the mobile platform between given points, controlling movement along the planned path, object recognition on sensor data and controlling the manipulator when interacting with recognized objects. Aforementioned components are implemented for an example task of ensuring the mobility of a robotic system in a multifloor office building equipped with elevators. During the experiments, the implemented set of components allowed a real robotic system to use the elevator of an office building.
Keywords: mobile robots, control architecture, behavior planning, machine vision, manipulation.
Funding agency Grant number
Правительство Российской Федерации 70-2021-00138
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: K. V. Mironov, D. A. Yudin, M. Alhaddad, D. A. Makarov, D. S. Pushkarev, S. A. Linok, I. V. Belkin, A. S. Krishtopik, V. A. Golovin, K. Yakovlev, A. I. Panov, “STRL-Robotics: intelligent control for robotic platform in human-oriented environment”, Artificial Intelligence and Decision Making, 2023, no. 2, 45–63
Citation in format AMSBIB
\Bibitem{MirYudAlh23}
\by K.~V.~Mironov, D.~A.~Yudin, M.~Alhaddad, D.~A.~Makarov, D.~S.~Pushkarev, S.~A.~Linok, I.~V.~Belkin, A.~S.~Krishtopik, V.~A.~Golovin, K.~Yakovlev, A.~I.~Panov
\paper STRL-Robotics: intelligent control for robotic platform in human-oriented environment
\jour Artificial Intelligence and Decision Making
\yr 2023
\issue 2
\pages 45--63
\mathnet{http://mi.mathnet.ru/iipr25}
\crossref{https://doi.org/10.14357/20718594230204}
\elib{https://elibrary.ru/item.asp?id=54105808}
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